Preheat your oven to 400 degrees Fahrenheit. Prepare a large rimmed baking sheet.
Whisk the olive oil, honey, minced garlic, soy sauce, apple cider vinegar, smoked paprika, salt, and pepper in a small bowl to create the glaze.
Toss the sliced sausage, broccoli, bell pepper, zucchini, and onion in a large bowl. Pour the glaze over the top and mix until well coated.
Spread the mixture onto your baking sheet in a single layer to ensure even roasting.
Bake for 20 to 25 minutes, tossing the ingredients halfway through, until the vegetables are tender and the sausage edges are caramelized.
